/**
 * @file manualControl.h
 * @author Alexander Klein (alex@kleiax.de)
 * @brief A small class to drive the Rover by the controller joystick.
 * @version 0.1
 * @date 2021-12-13
 * 
 * @copyright Copyright (c) 2021
 * 
 */
#ifndef MANUAL_CONTROL_H
#define MANUAL_CONTROL_H

#include "driveModi/driveModi.h"

class DirectionChangeWrapper {
    public:
        virtual void action() = 0;
};

/**
 * @brief Drive the Rover with a Joystick
 * 
 * This class gets the x and y value from the PS3 controller
 * and map the values to moveControl
 * 
 * @see MoveControl
 */
class ManualControl : public DriveModi {
    public:
        enum class InputMode : uint8_t {
            Analog,
            Digital
        };

        ManualControl(DriveModiParams params) : DriveModi(params){};

        void switchInputMode();
        void setInputMode(InputMode mode) { this->inputMode = mode; }
        InputMode getInputMode() const { return this->inputMode; }
        void setDirectionChangeCallback(DirectionChangeWrapper* callback) { this->directionChangeWrapper = callback; }

        uint16_t getDutycycleLeft() const { return this->moveControl->getDutycycleLeft(); }
        uint16_t getDutycycleRight() const { return this->moveControl->getDutycycleRight(); }

    protected:
        void run() override;

    private:
        void analogControl();
        void digitalControl();

        bool lastLoopTurned = false;
        DirectionChangeWrapper* directionChangeWrapper = nullptr;
        InputMode inputMode = InputMode::Analog;
};

#endif // MANUAL_CONTROL_H